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Several drugs have been shown to improve the probability of a lucid dream occurring and/or increase the length of such a dream:

Galantamine is a nootropic that can substantially increase the odds of success when used along with a lucid dream or out-of-body experience induction technique.[33][34][35] Choline bitartrate or Alpha-GPC can be used with Galantamine to increase its effectiveness.[36]

An amino acid blend made up of 2000mg L-aspartic acid, 4000mg L-glutamine, and 300mg L-theanine can greatly increase the odds of having a lucid dream.[37]

5-HTP can increase the chances of success of having a lucid dream by taking advantage of the REM rebound effect.[38]

Melatonin has been shown clinically to increase the time spent in REM sleep in the morning hours (as the dose is wearing off). It is theorized that this phenomenon is due to a REM rebound effect.[39]
Vitamin B6 can increase dream vividness when taken with tryptophan. This is due to the role this vitamin plays in the conversion of tryptophan to serotonin.[40]